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Merge pull request#483 from bnavigator/statefbk-input-doc

Fix lqe docstring and input array type

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- statefbk.py

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`‎control/statefbk.py`

Lines changed: 15 additions & 15 deletions

Original file line number	Diff line number	Diff line change
`@@ -41,7 +41,7 @@`
`41`	`41`
`42`	`42`	`# External packages and modules`
`43`	`43`	`importnumpyasnp`
`44`		`-importscipyassp`
	`44`	`+`
`45`	`45`	`from .importstatesp`
`46`	`46`	`from .mateqnimportcare`
`47`	`47`	`from .statespimport_ssmatrix`
`@@ -59,11 +59,11 @@ def place(A, B, p):`
`59`	`59`
`60`	`60`	`Parameters`
`61`	`61`	`----------`
`62`		`- A : 2Darray`
	`62`	`+ A : 2Darray_like`
`63`	`63`	`Dynamics matrix`
`64`		`- B : 2Darray`
	`64`	`+ B : 2Darray_like`
`65`	`65`	`Input matrix`
`66`		`- p : 1Dlist`
	`66`	`+ p : 1Darray_like`
`67`	`67`	`Desired eigenvalue locations`
`68`	`68`
`69`	`69`	`Returns`
`@@ -120,7 +120,7 @@ def place(A, B, p):`
`120`	`120`	`raiseControlDimension(err_str)`
`121`	`121`
`122`	`122`	`# Convert desired poles to numpy array`
`123`		`-placed_eigs=np.array(p)`
	`123`	`+placed_eigs=np.atleast_1d(np.squeeze(np.asarray(p)))`
`124`	`124`
`125`	`125`	`result=place_poles(A_mat,B_mat,placed_eigs,method='YT')`
`126`	`126`	`K=result.gain_matrix`
`@@ -133,11 +133,11 @@ def place_varga(A, B, p, dtime=False, alpha=None):`
`133`	`133`
`134`	`134`	`Required Parameters`
`135`	`135`	`----------`
`136`		`- A : 2Darray`
	`136`	`+ A : 2Darray_like`
`137`	`137`	`Dynamics matrix`
`138`		`- B : 2Darray`
	`138`	`+ B : 2Darray_like`
`139`	`139`	`Input matrix`
`140`		`- p : 1Dlist`
	`140`	`+ p : 1Darray_like`
`141`	`141`	`Desired eigenvalue locations`
`142`	`142`
`143`	`143`	`Optional Parameters`
`@@ -201,7 +201,7 @@ def place_varga(A, B, p, dtime=False, alpha=None):`
`201`	`201`
`202`	`202`	`# Compute the system eigenvalues and convert poles to numpy array`
`203`	`203`	`system_eigs=np.linalg.eig(A_mat)[0]`
`204`		`-placed_eigs=np.array(p)`
	`204`	`+placed_eigs=np.atleast_1d(np.squeeze(np.asarray(p)))`
`205`	`205`
`206`	`206`	`# Need a character parameter for SB01BD`
`207`	`207`	`ifdtime:`
`@@ -264,9 +264,9 @@ def lqe(A, G, C, QN, RN, NN=None):`
`264`	`264`
`265`	`265`	`Parameters`
`266`	`266`	`----------`
`267`		`- A, G : 2Darray`
	`267`	`+ A, G : 2Darray_like`
`268`	`268`	`Dynamics and noise input matrices`
`269`		`- QN, RN : 2Darray`
	`269`	`+ QN, RN : 2Darray_like`
`270`	`270`	`Process and sensor noise covariance matrices`
`271`	`271`	`NN : 2D array, optional`
`272`	`272`	`Cross covariance matrix`
`@@ -292,8 +292,8 @@ def lqe(A, G, C, QN, RN, NN=None):`
`292`	`292`
`293`	`293`	`Examples`
`294`	`294`	`--------`
`295`		`- >>>K, P, E = lqe(A, G, C, QN, RN)`
`296`		`- >>>K, P, E = lqe(A, G, C, QN, RN, NN)`
	`295`	`+ >>>L, P, E = lqe(A, G, C, QN, RN)`
	`296`	`+ >>>L, P, E = lqe(A, G, C, QN, RN, NN)`
`297`	`297`
`298`	`298`	`See Also`
`299`	`299`	`--------`
`@@ -324,9 +324,9 @@ def acker(A, B, poles):`
`324`	`324`
`325`	`325`	`Parameters`
`326`	`326`	`----------`
`327`		`- A, B : 2Darrays`
	`327`	`+ A, B : 2Darray_like`
`328`	`328`	`State and input matrix of the system`
`329`		`- poles : 1Dlist`
	`329`	`+ poles : 1Darray_like`
`330`	`330`	`Desired eigenvalue locations`
`331`	`331`
`332`	`332`	`Returns`

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